EP1998138B1 - Procédé et appareil pour un élément de fixation instrumenté - Google Patents

Procédé et appareil pour un élément de fixation instrumenté Download PDF

Info

Publication number
EP1998138B1
EP1998138B1 EP08156872A EP08156872A EP1998138B1 EP 1998138 B1 EP1998138 B1 EP 1998138B1 EP 08156872 A EP08156872 A EP 08156872A EP 08156872 A EP08156872 A EP 08156872A EP 1998138 B1 EP1998138 B1 EP 1998138B1
Authority
EP
European Patent Office
Prior art keywords
fastener
instrumented
assembly system
light
light beacon
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP08156872A
Other languages
German (de)
English (en)
Other versions
EP1998138A1 (fr
Inventor
Branko Sarh
Harry Asada
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Boeing Co
Original Assignee
Boeing Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Boeing Co filed Critical Boeing Co
Publication of EP1998138A1 publication Critical patent/EP1998138A1/fr
Application granted granted Critical
Publication of EP1998138B1 publication Critical patent/EP1998138B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/14—Riveting machines specially adapted for riveting specific articles, e.g. brake lining machines
    • B21J15/142—Aerospace structures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
    • G01B11/272—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes using photoelectric detection means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41805—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by assembly
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31047—Display image of finished workpiece on screen, show how, where to mount next part
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50125—Configurable fixture, jig
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50127—Modular fixture, use of clamps and locators, the latter also for positioning
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49616—Structural member making
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49616—Structural member making
    • Y10T29/49622—Vehicular structural member making
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49764—Method of mechanical manufacture with testing or indicating
    • Y10T29/49778—Method of mechanical manufacture with testing or indicating with aligning, guiding, or instruction
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49764—Method of mechanical manufacture with testing or indicating
    • Y10T29/49778—Method of mechanical manufacture with testing or indicating with aligning, guiding, or instruction
    • Y10T29/4978—Assisting assembly or disassembly
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49826—Assembling or joining
    • Y10T29/49947—Assembling or joining by applying separate fastener
    • Y10T29/49963—Threaded fastener
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49998—Work holding

Definitions

  • the embodiments described herein generally relate to assembly and testing of structures, and more particularly relate to methods and apparatus for providing information regarding location and orientation of an assembly system with respect to such structures using intelligent fasteners.
  • Another common technique involves the use of a small magnet, which can be placed inside a hole of the internal structural component, along with a magnet centroid finder that is moved along the outer surface until the center (i.e., the magnet) is located. An "X" or other such indicia is then marked on the surface, which is then identified by a vision system camera on the external portion of the assembly unit.
  • Such systems are somewhat imprecise and generally provide only two-dimensional guidance (e.g., x and y position). Furthermore, such passive tacks are not configured to identify the specific structural location in which they are placed.
  • US2001/0024283 relates to a system for identifying the position of a three-dimensional machine in a fixed frame of reference in which bushings fitted to a surface are fitted with emitters that emit a predetermined code enabling the bushing to be identified, from which the co-ordinates of a point associated with the surface can be deduced.
  • US2003/0038933 concerns a calibration system in which optical targets such as an optical source and a diffusing target are fixed to a calibration surface.
  • an instrumented fastener e.g., a "tack" fastener
  • includes one or more light sources e.g., light-emitting diodes
  • a light beacon that encodes information regarding the instrumented fastener (e.g., part number)
  • the light beacon may be activated automatically, or via an instruction received from an external system.
  • a plurality of such fasteners may be affixed to one or more airframe parts and used to autonomously assemble the various structures.
  • an exemplary assembly task involves the joining of one or more components of a structure 102.
  • a "skin" 104 of the box-type structure is shown in dotted lines, and generally defines an interior region 105 and exterior region 103. It will be understood that the particular beams, holes, and other components shown in FIG. 1 are merely examples, and in no way limits the range of applicable embodiments.
  • FIG. 1 Two portions of an assembly system are illustrated in FIG. 1 : an external portion 110, and an internal portion 120.
  • these two systems may be referred to herein as “external assembly system” 110 and “internal assembly system” 120, respectively, even though in practice they may be independent systems or two parts of the same system.
  • Each assembly system 110 will typically include various end-effectors, actuators, and/or tools configured to perform the task at hand, and will also typically be attached to a robotic device and associated computer system (not shown in FIG. 1 ).
  • fasteners 130 A number of instrumented fasteners (or simply “fasteners”) 130 have been attached to structure 102 at various points. In the illustrated embodiment, five such fasteners (130A, 130B, 130C, 130D, and 130E) are shown. In order to illustrate operation of the various embodiments, it is assumed that these fasteners 130 are "tack" fasteners - i.e., fasteners that help stabilize structure 102 temporarily, and which are replaced with a second, likely stronger, more permanent type of fastener, and which help with installing such permanent type fasteners in adjacent holes. Alternatively, fasteners 130 may be permanent fasteners.
  • FIG. 1 shows internal assembly system 120 located above fastener 130B, and external assembly system 110 located below fastener 130B.
  • each fastener 130 is configured to produce one or more light beacons 132 that can be sensed by assembly systems 110 and 120.
  • This light beacon in addition to providing a reference for alignment, may also include encoded information (encoded by controller 230) regarding the nature and/or location of the respective fastener 130.
  • fasteners 130 when activated, produce antipodal light beacons projecting outward along their major axes.
  • external assembly system 110 When moving into position, external assembly system 110 receives beacon 132 through a port or lens 112. At the same time, internal assembly system 120 receives the antipodal beacon 132 within a sensor along underside 122 of the structure (not shown). Assembly systems 120 may then iteratively move themselves into the correct position and alignment based on the location of the received light on the sensor (i.e., aligned with the z axis as defined in this figure). That is, known techniques may be used to align the sensor such that it is centered and exhibits normality with respect to beacon 132.
  • assembly systems 110 and 120 may then complete the required task before moving on to the next position (e.g., the next fastener 130).
  • the next position e.g., the next fastener 130
  • the position of known fastener locations between neighboring fasteners 130 may be computed, followed by installation of permanent fasteners therein.
  • fastener 130 includes a body 202 encasing a light source 210, another light source 212, one or more power sources 220, and a controller 230.
  • Body 202 which has a major axis corresponding in this figure to the z-axis, may include a generally hollow, cylindrical cavity 240 large enough to fit the power source(s) 220 and controller 230.
  • Body 202 may be threaded as shown to receive a corresponding nut 204, thus securing the components of structure 102.
  • Body 202 may comprise any suitable material or combination of materials, including various plastics, ceramics, metals, and composites. Furthermore, body 202 may have any configuration and size, and is not limited to the tack fastener shown in FIG. 2 . In one embodiment, body 202 is generally cylindrical and has a diameter between approximately 0.15 - 0.50 inches (3.81-12.7mm).
  • Light sources 210 and 212 are oriented such that, when activated by controller 230, and powered by power source 220, they produce opposing beacons 132A and 132B, respectively, which have maximum intensity in antipodal directions.
  • External cavities 242 and 244 are shown adjacent to light sources 210 and 212, and function to protect light sources 210 and 212 from external impact and other forces.
  • Light sources 210 and 212 may comprise any suitable light-emitting component, for example, a conventional light-emitting diode (LED). Furthermore, other parts of the electromagnetic spectrum other than visible light may be used.
  • Power source 220 may include one or more batteries, such as various small conventional lithium-ion batteries known in the art.
  • FIG. 3 shows a simplified block diagram of instrumented fastener 130.
  • Controller 230 which receives a suitable voltage V from power source 220, selectively provides a current through resistor 310 to LED 210.
  • Controller 230 may include any combination of hardware, software, and firmware configured to suitably control light sources 210 and 212.
  • controller 230 may include a microprocessor, memory, I/O as is conventionally known.
  • Controller 230 (or other components provided within body 202) may also be configured to receive external commands through, for example, a wireless communication protocol.
  • Controller 230 may activate light sources 210 and 212 periodically, at predetermined times, or in response to an external instruction or stimulus. That is, assembly systems 110 and/or 120 (or the computer systems attached thereto) may be configured to wirelessly issue an instruction to controller 230 such that controller 230 activates the light sources only when the assembly systems are proximate to the fastener 130. Alternatively, controller 230 may sense the presence of the assembly system (e.g., via a conventional passive or active RFID scheme) and activate the light sources only when the assembly system is within a predetermined distance of fastener 130.
  • beacons 132 it is desirable for beacons 132 to encode information relating to the nature and/or position of fastener 130.
  • certain data 235 is preferably stored within controller 230 a priori. This data may include information regarding, for example, the part ID of fastener 130, its intended location within the structure (i.e., the particular airframe structure to which it is affixed), or any other such information.
  • the data may be encoded and communicated in any desired manner.
  • the data is stored as a digital word, and is communicated as a serial bit stream within beacon 132 by modulating the intensity of the beacon at a suitable clock rate. This modulation of intensity can then be read by sensors incorporated into the end-effectors of the assembly systems.
  • a method of using an exemplary instrumented fastener to align an assembly system includes affixing an instrumented fastener to a structure (block 410), sending an instruction to the instrumented fastener to activate the instrumented fastener (block 420).
  • the instrumented fastener produces a first light beacon along a first direction.
  • the first light beacon may include information regarding the instrumented fastener.
  • the instrumented fastener may also produce a second light beacon along a second direction antipodal to the first direction.
  • the light beacon(s) are detected at the assembly system (block 430).
  • the assembly system is aligned adjacent the instrumented fastener based on the direction of the light beacon(s) (block 440). For example, an external portion of the assembly system is aligned based on the first direction of the first light beacon, and an internal portion of the assembly system is aligned based on the second direction of the second light beacon.
  • aligning the external portion of the assembly system includes alignment of an end-effector exhibiting four degrees of freedom.
  • aligning the external portion of the assembly system includes determining a part number of the instrumented fastener based on the information included in the first light beacon.
  • the method may further include utilizing the assembly system to replace the instrumented fastener with a permanent fastener (block 460).

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manufacturing & Machinery (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • General Engineering & Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Automatic Assembly (AREA)
  • Toys (AREA)
  • Fastening Of Light Sources Or Lamp Holders (AREA)
  • Portable Nailing Machines And Staplers (AREA)

Claims (20)

  1. Elément de fixation instrumenté (130) comprenant :
    un corps d'élément de fixation (202) ayant une première extrémité et une deuxième extrémité,
    une source d'alimentation électrique (220) à l'intérieur du corps d'élément de fixation ;
    un organe de commande (230) à l'intérieur du corps d'élément de fixation, l'organe de commande étant électriquement couplé à la source d'alimentation électrique ;
    une première source de lumière (210) fixée à la première extrémité du corps d'élément de fixation et couplée de manière à pouvoir communiquer avec l'organe de commande, la première source de lumière étant configurée pour produire une première balise lumineuse (132A) dans une première direction lorsqu'elle est activée ;
    dans lequel l'organe de commande est configuré pour activer la première source de lumière de sorte que la première balise lumineuse comprenne des informations concernant l'élément de fixation instrumenté.
  2. Elément de fixation instrumenté (130) selon la revendication 1, comprenant en outre une deuxième source de lumière (212) fixée à la deuxième extrémité du corps d'élément de fixation (202) et couplée de manière à pouvoir communiquer avec l'organe de commande (230), la deuxième source de lumière étant configurée pour produire une deuxième balise lumineuse (132B) dans une deuxième direction lorsqu'elle est activée.
  3. Elément de fixation instrumenté (130) selon la revendication 2, dans lequel la première direction et la deuxième direction sont sensiblement aux antipodes l'une de l'autre.
  4. Elément de fixation instrumenté (130) selon la revendication 1, dans lequel la première balise lumineuse (132A) comprend des informations utilisant un flux binaire en série comprenant un ou plusieurs mots numériques.
  5. Elément de fixation instrumenté (130) selon la revendication 1, dans lequel la première balise lumineuse (132A) comprend des informations concernant un identifiant de pièce de l'élément de fixation instrumenté.
  6. Elément de fixation instrumenté (130) selon la revendication 1, dans lequel la première source de lumière (210) est une diode électroluminescente.
  7. Elément de fixation instrumenté (130) selon la revendication 1, dans lequel la première ou deuxième extrémité du corps d'élément de fixation (202) est filetée à l'extérieur et est configurée pour recevoir un écrou correspondant (204).
  8. Elément de fixation instrumenté (130) selon la revendication 1, dans lequel la source d'alimentation électrique (220) est une batterie.
  9. Elément de fixation instrumenté (130) selon la revendication 1, dans lequel le corps d'élément de fixation (202) a un diamètre entre environ 3,81 mm et environ 12,7 mm.
  10. Elément de fixation instrumenté (130) selon la revendication 1, dans lequel l'organe de commande (230) est configuré pour activer la première source de lumière (210) en réponse à une commande externe.
  11. Elément de fixation instrumenté (130) selon la revendication 10, dans lequel l'organe de commande (230) est configuré pour recevoir la commande externe d'un système d'assemblage.
  12. Procédé d'alignement d'un système d'assemblage, le procédé comprenant :
    la fixation d'un élément de fixation instrumenté (130) selon l'une des revendications précédentes à une structure (410), l'élément de fixation instrumenté étant configuré pour produire une première balise lumineuse (132A) dans une première direction lorsqu'il est activé, dans lequel la première balise lumineuse comprend des informations concernant l'élément de fixation instrumenté ;
    la détection, à un système d'assemblage, de la première balise lumineuse ; et
    l'alignement du système d'assemblage adjacent à l'élément de fixation instrumenté sur la base de la direction de la première balise lumineuse (440).
  13. Procédé selon la revendication 12, comprenant en outre, après l'étape d'alignement, l'utilisation du système d'assemblage pour remplacer l'élément de fixation instrumenté (130) par un élément de fixation permanent (460).
  14. Procédé selon la revendication 12, dans lequel l'élément de fixation instrumenté (130) est en outre configuré pour produire une deuxième balise lumineuse (132B) dans une deuxième direction aux antipodes de la première direction, et dans lequel l'étape d'alignement comprend en outre l'alignement d'une partie externe (110) du système d'assemblage sur la base de la première direction de la première balise lumineuse (132A), et l'alignement d'une partie interne (120) du système d'assemblage sur la base de la deuxième direction de la deuxième balise lumineuse (132B).
  15. Procédé selon la revendication 12, comprenant en outre :
    l'envoi d'une instruction (420) à l'élément de fixation instrumenté (130) ; et
    l'activation de l'élément de fixation instrumenté en réponse à l'instruction.
  16. Procédé d'assemblage d'un aéronef, le procédé comprenant le procédé d'alignement d'un système d'assemblage selon la revendication 12,
    dans lequel la structure est une structure de cellule de l'aéronef, l'élément de fixation instrumenté étant configuré pour produire, lorsqu'il est activé, une première balise lumineuse (132A) dans une première direction, et une deuxième balise lumineuse (132B) dans une deuxième direction aux antipodes de la première direction, dans lequel les première et deuxième balises lumineuses comprennent des informations concernant l'élément de fixation instrumenté ;
    dans lequel l'étape de détection comprend la détection (430), à une partie externe (110) d'un système d'assemblage, de la première balise lumineuse ;
    la détection (430), à une partie interne (120) du système d'assemblage, de la deuxième balise lumineuse ;
    et dans lequel l'étape d'alignement comprend l'alignement (440) de la partie externe du système d'assemblage adjacent à l'élément de fixation instrumenté sur la base de la première direction de la première balise lumineuse ; et
    l'alignement (440) de la partie interne du système d'assemblage adjacent à l'élément de fixation instrumenté sur la base de la deuxième direction de la deuxième balise lumineuse.
  17. Procédé selon la revendication 16, comprenant en outre, après l'étape d'alignement, l'utilisation (460) de la partie externe (110) et de la partie interne (120) du système d'assemblage pour remplacer l'élément de fixation instrumenté (130) par un élément de fixation permanent.
  18. Procédé selon la revendication 16, comprenant en outre :
    l'envoi d'une instruction (420) à l'élément de fixation instrumenté (130) ; et
    l'activation de l'élément de fixation instrumenté en réponse à l'instruction.
  19. Procédé selon la revendication 16, dans lequel l'alignement (440) de la partie externe du système d'assemblage (110) comprend l'alignement d'un organe terminal effecteur présentant quatre degrés de liberté.
  20. Procédé selon la revendication 16, dans lequel l'alignement (440) de la partie externe du système d'assemblage (110) comprend la détermination d'un numéro de pièce de l'élément de fixation instrumenté (130) sur la base des informations incluses dans la première balise lumineuse.
EP08156872A 2007-05-31 2008-05-23 Procédé et appareil pour un élément de fixation instrumenté Active EP1998138B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US11/756,447 US7937817B2 (en) 2007-05-31 2007-05-31 Methods and apparatus for an instrumented fastener

Publications (2)

Publication Number Publication Date
EP1998138A1 EP1998138A1 (fr) 2008-12-03
EP1998138B1 true EP1998138B1 (fr) 2012-03-07

Family

ID=39714193

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08156872A Active EP1998138B1 (fr) 2007-05-31 2008-05-23 Procédé et appareil pour un élément de fixation instrumenté

Country Status (7)

Country Link
US (1) US7937817B2 (fr)
EP (1) EP1998138B1 (fr)
JP (1) JP5114296B2 (fr)
CN (1) CN101315273B (fr)
AT (1) ATE548631T1 (fr)
ES (1) ES2383839T3 (fr)
HK (1) HK1122612A1 (fr)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8301302B2 (en) * 2008-05-08 2012-10-30 The Boeing Company Synchronous robotic operation on a structure having a confined space
US20100217437A1 (en) * 2009-02-24 2010-08-26 Branko Sarh Autonomous robotic assembly system
US8666546B2 (en) * 2009-07-10 2014-03-04 The Boeing Company Autonomous robotic platform
US8544163B2 (en) 2011-04-30 2013-10-01 The Boeing Company Robot having obstacle avoidance mechanism
US9764464B2 (en) 2011-08-03 2017-09-19 The Boeing Company Robot including telescopic assemblies for positioning an end effector
US10386254B2 (en) * 2016-04-25 2019-08-20 The Boeing Company Fastener Status Detection System
US10873357B2 (en) 2017-05-02 2020-12-22 Deere & Company Smart attachment for a work vehicle
CN114440946B (zh) * 2021-12-30 2024-05-24 重庆特斯联智慧科技股份有限公司 一种用于园区赋能平台智能学习的自编码装置

Family Cites Families (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2206036A (en) * 1938-07-27 1940-07-02 Herson Jacob Distance measuring apparatus and system
US4277170A (en) * 1979-11-01 1981-07-07 Miles Richard B Laser beacon and optical detector system for aircraft collision hazard determination
US4934885A (en) 1985-02-25 1990-06-19 The Boeing Company Tack fastener
DE3780738T2 (de) * 1986-09-19 1993-01-14 Texas Instruments Inc Bord-sichtsystem fuer bewegliche roboter.
US5202568A (en) * 1991-09-03 1993-04-13 Central Ohio Plastic Corporation Determining the presence, position, and integrity of reinforcing mounting clips by utilizing photoelectric means
US5549803A (en) 1994-01-14 1996-08-27 Honeywell Inc. Smart fastener
FR2721395B1 (fr) * 1994-06-17 1996-08-14 Homer Eaton Procédé de repérage positionnel d'un trièdre dans l'espace et dispositif pour la mise en Óoeuvre de ce procédé.
US5577829A (en) 1995-01-09 1996-11-26 Hall; Timothy E. Flashlight with tool bit attachment
US6056283A (en) 1999-02-08 2000-05-02 The Boeing Company Tack fastener
US6196779B1 (en) 1999-02-11 2001-03-06 The Boeing Company Temporary fastener with projecting tool-guide bushing
FR2806657B1 (fr) * 2000-03-21 2002-08-16 Romain Granger Systeme de reperage positionnel d'une machine tridimensionnelle dans un referentiel fixe
US6643019B1 (en) * 2000-04-13 2003-11-04 Jack D. Jeanneret Laser alignment device
US20030038933A1 (en) * 2001-04-19 2003-02-27 Dimensional Photonics Inc. Calibration apparatus, system and method
US6741364B2 (en) * 2002-08-13 2004-05-25 Harris Corporation Apparatus for determining relative positioning of objects and related methods
TWM242685U (en) * 2003-03-04 2004-09-01 Quarton Inc Three-direction laser indicator
AU2003902259A0 (en) * 2003-05-13 2003-05-29 Telezygology Inc. Improved assembly system
US7216436B2 (en) * 2004-08-24 2007-05-15 Bell Helicopter Textron Inc. Method and apparatus for locating and aligning fasteners
US20070204473A1 (en) * 2006-03-03 2007-09-06 Honda Motor Co., Ltd. Spindle locating laser for nut runner
US7557936B2 (en) * 2006-04-12 2009-07-07 Toyota Motor Engineering & Manufacturing North America, Inc. Digitizer adapter
US20070262933A1 (en) * 2006-05-11 2007-11-15 Advanced Lighting Systems, Inc. A Minnesota Corporation System and method for mounting LED's on a display surface

Also Published As

Publication number Publication date
JP5114296B2 (ja) 2013-01-09
ATE548631T1 (de) 2012-03-15
ES2383839T3 (es) 2012-06-26
CN101315273B (zh) 2011-12-28
JP2009078347A (ja) 2009-04-16
CN101315273A (zh) 2008-12-03
EP1998138A1 (fr) 2008-12-03
US7937817B2 (en) 2011-05-10
HK1122612A1 (en) 2009-05-22
US20080295314A1 (en) 2008-12-04

Similar Documents

Publication Publication Date Title
EP1998138B1 (fr) Procédé et appareil pour un élément de fixation instrumenté
JP7496562B2 (ja) 工具システム
CN106477068A (zh) 机器人系统和操作机器人系统的方法
KR100812724B1 (ko) 실내 위치측정시스템을 이용한 벽면 이동 로봇
WO2018035482A1 (fr) Drone robotique
CA2657085C (fr) Tache robotique synchrone realisee sur une structure en espace clos
KR101253019B1 (ko) 산업용 로봇의 아암의 기준 위치 결정 방법 및 산업용 로봇
JP5199452B2 (ja) ロボット精度向上のための外部システム
EP1530107A2 (fr) Dispositif pour corriger les données de position d'un robot
WO2018213931A1 (fr) Systèmes et procédés d'orientation de processus au moyen d'un bras robotisé
CN105786018B (zh) 一种无人机用自动返航激光定位系统、无人机
EP1515210A3 (fr) Système de robot et méthode de commande
JP2022015933A (ja) 協働システム
CN106347708A (zh) 用于控制工件上的自动化操作的方法和系统
KR20230090851A (ko) 드론 스테이션 및 드론 시스템
CN117484520A (zh) 自动标定机器人、控制方法及存储介质
EP3263293B1 (fr) Analyse d'opérations d'effecteur d'extrémité par un robot
US11366492B2 (en) Programmable device provided in a production environment for assisting an operator
EP3801231B1 (fr) Dispositif de mesure pour la mesure de données physiologiques d'un mammifère
US20200264581A1 (en) System and method for automated aperture alignment in response to detecting an object
KR102484693B1 (ko) 로봇의 이동을 위한 가이드 태그를 포함하는 가이드 장치가 설치된 건물
CN210147390U (zh) 一种圆柱磁石组装机构
Reed PROJECT ADVISOR: James Rogers MAIN AUTHORS: Muhammad H. Abdelraziq
Pradeep et al. AUTONOMOUS LUGGAGE HANDLING SYSTEM
CN115870969A (zh) 用于组装运载工具部件的系统和方法

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20080527

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MT NL NO PL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL BA MK RS

17Q First examination report despatched

Effective date: 20090128

AKX Designation fees paid

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MT NL NO PL PT RO SE SI SK TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

RTI1 Title (correction)

Free format text: METHOD AND APPARATUS FOR AN INSTRUMENTED FASTENER

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MT NL NO PL PT RO SE SI SK TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

Ref country code: AT

Ref legal event code: REF

Ref document number: 548631

Country of ref document: AT

Kind code of ref document: T

Effective date: 20120315

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602008013885

Country of ref document: DE

Effective date: 20120503

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2383839

Country of ref document: ES

Kind code of ref document: T3

Effective date: 20120626

REG Reference to a national code

Ref country code: NL

Ref legal event code: VDEP

Effective date: 20120307

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120307

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120307

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120607

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120307

LTIE Lt: invalidation of european patent or patent extension

Effective date: 20120307

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120608

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120307

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120307

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 548631

Country of ref document: AT

Kind code of ref document: T

Effective date: 20120307

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120307

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120707

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120307

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120307

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120307

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120307

Ref country code: BE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120307

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120307

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120307

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120307

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120709

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120531

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120307

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120307

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120531

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120531

26N No opposition filed

Effective date: 20121210

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602008013885

Country of ref document: DE

Effective date: 20121210

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120523

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120607

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120307

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120307

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120523

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080523

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 9

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 10

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 11

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230516

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20240527

Year of fee payment: 17

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20240530

Year of fee payment: 17

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: ES

Payment date: 20240603

Year of fee payment: 17

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20240527

Year of fee payment: 17

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20240521

Year of fee payment: 17